The incident occurred when the bus, on its way to Etawah from New Delhi, collided with the oil tanker which was parked along the roadside, police said.
Bus driver Arvind died on the spot while injured passengers were admitted to a hospital where one of them, identified as Vinod, died, they said.
The injured were identified as Bhanu, Amar, Rupa, Brijesh and Manoj and their condition was stated to be stable.